ASCII - Command | PGEARI | |||
Syntax Transmit | PGEARI [Data] | |||
Syntax Receive | PGEARI <Data> | Available in | ||
Type | Variable rw | MMI | Yes | |
ASCII Format | Integer32 | CANBus Object Number | 35CA (hex) | |
DIM | µm | PROFIBUS PNU | 1802 (dec) IND = 1 (dec) | |
Range | long int | DPR | 202 (dec) | |
Default | 10000 | |||
Opmode | All | Data Type Bus/DPR | Integer32 | |
Drive State | Disabled + Reset (Coldstart) | Weighting | ||
Start Firmware | 1.20 | |||
Configuration | No | Last Change of this Object | 1.7 | |
Function Group | Position Controller | EEPROM | Yes | |
Short Description | Position Resolution (Numerator) |
Description
The parameter PGEARI is used in conjunction with the PGEARO parameter to convert the control loop position and speed from SI units into increments. The PGEARO parameter contains the number of increments that are moved if the path to be moved has a length of PGEARI. The conversion is made according to the following formula: Position[increments] = Position[SI] * PGEARO / PGEARI Velocity[increments] = Velocity[SI] * PGEARO / PGEARI / 4000 If PGEARI=PGEARO, then there will be no conversion from SI units into increments. In this case, the position and velocity must be given in increments. Position: 1046576 increments/turn for PRBASE = 20, or 65536 increments/turn for PRBASE = 16 Velocity: 140/32 * speed in RPM 1. Example PGEARI = 10000 PGEARO = 1048576 PRBASE = 20 The motion task position should be given in µm with a resolution of 10 mm/rev. The internal resolution of 20 Bit/rev (PRBASE=20) is used. Followind settings have to be made: Position: 1046576 counts/rev at PRBASE = 20 or 65536 counts/rev at PRBASE = 16. All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in µm, the settings regarding speed/velocity in µm/sec, all settings regarding acceleration in 1000µm/sec² 2. Example PGEARI = 3600 PGEARO = 65536 PRBASE = 16 The position is given in 0.1 degree steps with a resolution of 360.0 degrees/rev. The internal resolution of 16 Bit/rev (PRBASE = 16) is used. Following settings have to be made: All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in 0.1*degree, the settings regarding speed/velocity in 0.1*degree/sec, all settings regarding acceleration in 1000*0.1*degree/sec² The user units that at are used for PGEARI and PGEARO are defined by PUNIT. Example: LINEARMOTOR CENTER_DRIVE OUTSIDE_DRIVE SPINDLE_DRIVE BELTDRIVE |